Movable robot and controlling method thereof

Abstract

A movable robot includes: a sensor; a motor configured to drive the movable robot; and at least one processor configured to: obtain a driving path of the movable robot, determine an amount of change in angular velocity corresponding to each of a plurality of candidate motions of the movable robot moving along the driving path based on sensing data obtained from the sensor, determine a final motion from the plurality of candidate motions based on the amount of change in angular velocity corresponding to each of the plurality of candidate motions, and control the motor to move the movable robot based on the final motion.

What is claimed is: 
     
         1 . A movable robot comprising:
 a sensor;   a motor configured to drive the movable robot; and   at least one processor configured to:
 obtain a driving path of the movable robot, 
 determine an amount of change in angular velocity corresponding to each of a plurality of candidate motions of the movable robot moving along the driving path based on sensing data obtained from the sensor, 
 determine a final motion from the plurality of candidate motions based on the amount of change in angular velocity corresponding to each of the plurality of candidate motions, and 
 control the motor to move the movable robot based on the final motion. 
   
     
     
         2 . The movable robot as claimed in  claim 1 , wherein the at least one processor is further configured to:
 determine state information of each of the plurality of candidate motions based on the amount of change in angular velocity corresponding to each of the plurality of candidate motions,   determine classification information of each of the plurality of candidate motions based on whether the state information of each of the plurality of candidate motions is changed, and   calculate a driving score for each of the plurality of candidate motions,   wherein the at least one processor being configured to determine the final motion from the plurality of candidate motions is based on the driving score for each of the plurality of candidate motions and the classification information of each of the plurality of candidate motions.   
     
     
         3 . The movable robot as claimed in  claim 2 , wherein the at least one processor is further configured to:
 identify state information of a previous time-point motion based on an angular velocity of the previous time-point motion,   wherein the at least one processor being configured to determine the state information of each of the plurality of candidate motions is based on a difference between the angular velocity of the previous time-point motion and an angular velocity of each of the plurality of candidate motions, and   wherein the at least one processor being configured to determine the classification information of each of the plurality of candidate motions is based on the state information of the previous time-point motion and the state information of each of the plurality of candidate motions.   
     
     
         4 . The movable robot as claimed in  claim 2 ,
 wherein the driving score increases in value as a movement distance of the movable robot to avoid an obstacle along any particular candidate motion of the plurality of candidate motions increases, and   wherein the driving score increases in value as a distance of the movable robot to a predicted point or a goal, in which the movable robot is positioned, after avoiding the obstacle decreases.   
     
     
         5 . The movable robot as claimed in  claim 2 , wherein the at least one processor is further configured to:
 determine that the state information of any particular candidate motion of the plurality of candidate motions is a first state when the amount of change in angular velocity corresponding to the particular candidate motion is more than a first threshold value,   determine that the state information of the particular candidate motion is a second state when the amount of change in angular velocity corresponding to the particular candidate motion is less than a second threshold value, the second threshold value being smaller than the first threshold value, and   determine that the state information of the particular candidate motion is a third state when the amount of change in angular velocity corresponding to the particular candidate motion is less than or equal to the first threshold value and more than the second threshold value.   
     
     
         6 . The movable robot as claimed in  claim 5 , wherein the at least one processor is further configured to:
 determine that the classification information of the particular candidate motion is a first classification when the state information of the particular candidate motion is changed from the first state to the second state or from the second state to the first state, and   determine that the classification information of the particular candidate motion is a second classification when the state information of the particular candidate motion is changed from the first state to the third state, from the second state to the third state, from the third state to the first state, or from the third state to the second state,   wherein the first classification is a classification in which the state information of the particular candidate motion is changed relatively rapidly compared to the second classification.   
     
     
         7 . The movable robot as claimed in  claim 6 , wherein the at least one processor is further configured to determine the classification information of the particular candidate motion based on the state information of the particular candidate motion obtained within a predetermined time period. 
     
     
         8 . The movable robot as claimed in  claim 6 , wherein the at least one processor is further configured to:
 identify a first motion having the driving score of highest value from the plurality of candidate motions determined to have the first classification,   identify a second motion having the driving score of highest value from the plurality of candidate motions determined to have the second classification, and   determine either the first motion or the second motion to be the final motion.   
     
     
         9 . The movable robot as claimed in  claim 8 ,
 wherein the driving score of the first motion is a first driving score;   wherein the driving score of the second motion is a second driving score; and   wherein the at least one processor is configured to:
 determine the first motion to be the final motion when the first driving score is more than a sum of the second driving score and a threshold driving score, and 
 determine the second motion to be the final motion when the first driving score is the less than or equal to the sum of the second driving score and the threshold driving score. 
   
     
     
         10 . The movable robot as claimed in  claim 1 , wherein the at least one processor being configured control the motor to move the movable robot based on the final motion includes being configured to control the motor to move the movable robot based on a soft driving mode when the amount of change in angular velocity is changed from a positive number to a negative number or from the negative number to the positive number. 
     
     
         11 . A controlling method of a movable robot, the method comprising:
 obtaining a driving path of the movable robot;   determining an amount of change in angular velocity corresponding to each of a plurality of candidate motions of the movable robot moving along the driving path based on sensing data obtained from a sensor;   determining a final motion from the plurality of candidate motions based on the amount of change in angular velocity corresponding to each of the plurality of candidate motions; and   controlling the movable robot to move based on the final motion.   
     
     
         12 . The method as claimed in  claim 11 , further comprising:
 determining state information of each of the plurality of candidate motions based on the amount of change in angular velocity corresponding to each of the plurality of candidate motions,   determining classification information corresponding to each of the plurality of candidate motions based on whether the state information of each of the plurality of candidate motions is changed, and   calculating a driving score for each of the plurality of candidate motions,   wherein the determining the final motion from the plurality of candidate motions is based on the driving score for each of the plurality of candidate motions and the classification information of each of the plurality of candidate motions.   
     
     
         13 . The method as claimed in  claim 12 , further comprising:
 identifying state information of a previous time-point motion is identified based on an angular velocity of the previous time-point motion,   wherein the determining the state information of each of the plurality of each of the plurality of candidate motions is based on a difference between the angular velocity of the previous time-point motion and an angular velocity of each of the plurality of candidate motions, and   wherein the determining the classification information of each of the plurality of candidate motions is based on the state information of the previous time-point motion and the state information of each of the plurality of candidate motions.   
     
     
         14 . The method as claimed in  claim 12 ,
 wherein the driving score increases in value as a movement distance of the movable robot to avoid an obstacle along any particular candidate motion of the plurality of candidate motions increases, and   wherein the driving score increases in value as a distance of the movable robot to a predicted point or a goal, in which the movable robot is positioned, after avoiding the obstacle decreases.   
     
     
         15 . The method as claimed in  claim 12 , wherein the determining the state information comprises:
 determining that the state information of any particular candidate motion of the plurality of candidate motions is a first state when the amount of change in angular velocity corresponding to the particular candidate motion is more than a first threshold value,   determining that the state information of the particular candidate motion is a second state when the amount of change in angular velocity corresponding to the particular candidate motion is less than a second threshold value, the second threshold value being smaller than the first threshold value, and   determining that the state information of the particular candidate motion is a third state when the amount of change in angular velocity corresponding to the particular candidate motion is less than or equal to the first threshold value and more than the second threshold value.   
     
     
         16 . The method as claimed in  claim 15 , wherein the determining the classification information comprises:
 determining that the classification information of the particular candidate motion is a first classification when the state information of the particular candidate motion is changed from the first state to the second state or from the second state to the first state, and   determining that the classification information of the particular candidate motion is a second classification when the state information of the particular candidate motion is changed from the first state to the third state, from the second state to the third state, from the third state to the first state, or from the third state to the second state,   wherein the first classification is a classification in which the state information of the particular candidate motion is changed relatively rapidly compared to the second classification.   
     
     
         17 . The method as claimed in  claim 16 , wherein the determining the classification information of the particular candidate motion is based on the state information of the particular candidate motion obtained within a predetermined time period. 
     
     
         18 . The method as claimed in  claim 16 , further comprising:
 identifying a first motion having the driving score of highest value from the plurality of candidate motions determined to have the first classification, and   identifying a second motion having the driving score of highest value from the plurality of candidate motions determined to have the second classification,   wherein the determining the final motion comprises determining either the first motion or the second motion to be the final motion.   
     
     
         19 . The method as claimed in  claim 18 ,
 wherein the driving score of the first motion is a first driving score;   wherein the driving score of the second motion is a second driving score; and   wherein the determining either the first motion or the second motion to be the final motion comprises:
 determining the first motion to be the final motion when the first driving score is more than a sum of the second driving score and a threshold driving score, and 
 determining the second motion to be the final motion when the first driving score is the less than or equal to the sum of the second driving score and the threshold driving score. 
   
     
     
         20 . The method as claimed in  claim 10 , wherein the controlling the movable robot to move based on the final motion comprises controlling the movable robot to move based on a soft driving mode when the amount of change in angular velocity is changed from a positive number to a negative number or from the negative number to the positive number.